基于变负载的机器人误差模型设计与实验研究.pdfVIP

机械工程师

MECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEERMECHANICALENGINEER

基于变负载的机器人误差模型设计与实验研究

1211

占加林，朱华炳，张作胜，周福静

（1.安徽职业技术学院机械工程学院，合肥230009；2.合肥工业大学机械工程学院，合肥230009)

摘要：

借助工业机器人和激光跟踪仪等设备，搭建机器人变负载的标定实验平台，分析变负载对机器人末端位置点X、Y

和Z三个方向相对位置误差的影响，通过参数辨识分析D-H参数与负载之间的映射关系，拟合二者的误差模型，开发了变

负载的机器人参数误差修正界面，预测出任意负载运行时的实际D-H参数，通过与参数辨识获取的D-H模型进行对比验

证，发现具有较好的一致性，为后续机器人负载误差实时补偿和实际应用奠定基础。

关键词：

工业机器人；激光跟踪仪；标定实验平台；拟合模型；实时补偿

中图分类号:TP242.2文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园22）08原园020原园4

DesignandExperimentalResearchofRobotErrorModelBasedonVariableLoad

ZHANJialin,ZHUHuabing,ZHANZuosheng,ZHOUFujing1211

(1.SchoolofMechanicalEngineering,AnhuiVocationalandTechnicalCollege,Hefei230009,China;

2.SchoolofMechanicalEngineering,HefeiUniversityofTechnology,Hefei230009,China)

Abstract:Withthehelpofindustrialrobotsandlasertrackersandotherequipment,thispaperbuildsacalibratio

experimentplatformforrobotvariableload,andanalyzestheinfluenceofvariableloadotherelativepositioerrorofthe

robotendpositiopointitheX,YandZdirections.Throughparameteridentification,themappingrelationshipbetwee

D-Hparametersandloadsisanalyzed,theerrormodelsofthetwoarefitted,andavariable-loadrobotparametererror